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Using an AIDA3 PC, connect the Cubepilot to the GCS via USB as we did in . Verify the connection is live by monitoring movement in the HUDExplore the GCS Manual and answer the questions in this section
What does the GUID_THISMAV parameter control?This map should specify the globally unique ID for the aircraft Under Ground Software > Platform Connection, what indicator can an operator look for to confirm connectivity?Heartbeat Icon pulsing at the top. Under Flight Software > Flight Modes, what is the difference between manual and stabilized flight modes?Manual pilot inputs and directly manipulates all actuators. Stabilized flight mode is pilot input directly manipulates all actuators except for ailerons elevators rudders and ground steering.
With the your cubepilot connected to the GCS, navigate to the Parameters tab.Download the parameters.Export the parameters and attach the .json file here:
Whenever you update a parameter, ensure that you click the “Submit” button to send the parameter to the FCU. The parameters are static, meaning that they do not update unless action is taken. To view the most up-to-date parameters, be sure to click the “Download” button.
What is MAVLink?most commonly used for communication between GCS and UASWhat baud rate must TELEM 1 be set to in order to communicate with the GCS?115200What type of connector links the RFD900 with the Cubepilot? JST-GH-6-pin connector
Connect the air side RFD900 to the Cubepilot TELEM 1 port using the supplied cable. Be sure that the connector orientation is correct on the RDF900 end.With the Cubepilot still connected by USB and in the GCS parameters tab, modify or confirm the parameters match Be sure to complete the original column to save a record of original settings.Connect the ground side RFD900 to the PC and change the serial connection from USB to the RFD900.You will need device manager open to identify the new COM port.Keep the USB cable connected for power.Confirm that data is now being transmitted wirelessly.
According to the User Manual, under Flight Software > Sensor Input, is an airspeed sensor mandatory? optional but highly recommended Briefly, what is open-loop throttle mapping? Comparing to closed-loop throttle mapping may help.if airspeed isn’t there, open-loop throttle mapping will take over, Closed-loop means that it’ll measure input and adjust output accordinglyFor what aerodynamic reason is the pitot tube so long?so It sticks out away from the body of the aircraft What communication protocol does the airspeed sensor use?Serial CommunicationWhat is hexadecimal? Convert 0x28 from hexadecimal to decimal.Base 16 number system that is used in computing to represent long binary numbers40
Attach the provided silicone tubing to one end of the pitot tube and to the correct port on the airspeed sensor.Using the provided cable, connect the airspeed sensor to the Cubepilot in the appropriate port.Be sure to complete the original column to save a record of original settings.Note that some parameters are only visible upon reboot.From the Engineering tab, perform an Autopilot Reboot of the board.Remember to download the parameters again.Verify that the airspeed sensor works by monitoring changes on the ASI.
What communication protocol does the Here3+ GPS use?DroneCAN 8Mbit/sWhat additional sensors does the GPS unit include?Built-in Inertial Measurement Unit (compass, gyroscope, and accelerometer), for advanced navigation needs
Plug the GPS unit into the appropriate ports on the Cubepilot board - be sure to review the doc linked above in Flash the FCU with Arduplane following the (reset all parameters, MAKE SURE TO DOWNLOAD)Navigate to Setup > Optional Hardware > DroneCAN/UAVCAN and connect to MAVLinkCAN1Click “Menu” on the line named “com.cubepilot.here3+” and select ParametersDownload the original parameters and attach here: CLAYTON FILE GPS
Click “Load from file” and upload this parameter file: Click “Write Params”Close Mission planner and reboot the FCU. Reload the Windracers firmware using Be sure to complete the original column to save a record of original settings.Verify that the GPS acquires satellites.
In Diffchecker, add the file you downloaded above in to the left side. Add the file attached here to the right side:
Download your parameters again and attach here:Change the embedded link below to your own output using the share button.
Primarily what parameters changed?
Lab 09 - Believer Avionics
Overview
Resources
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Assignment
GCS
Broken link
Questions
Parameters
Recall from lecture that parameters are the variables that we have access to that can be used to modify the behavior of the aircraft.
Parameters_110625_Group6.json
38.6 kB
Tips
Telemetry
To communicate wirelessly with the flight controller, we will install the telemetry module that we set up in .
Broken link
Questions
Setup
SERIALX Parameters 2
Name
Original
Modified
Notes
SERIAL1_BAUD
115
115
Open
SERIAL1_PROTOCOL
MAVLink
MAVLink
Open
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Air Speed
Questions
Setup
ARSPDX Parameters 2
Name
Original
Modified
Notes
ARSPD1_TYPE
none
I2CMS4525D0
Open
ARSPD1_ADDR
40
0x28H
Open
ARSPD1_BUS
Bus1(external)
Bus0(internal)
Open
ARSPD1_TUBE_ORDR
Either port
Port1
Open
ARSPD1_USE
Use
Use
Open
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GPS
Questions
Setup
GPS_Here3_Original_110625.param
1.3 kB
GPS_Here3_Original_110625.param
1.3 kB
WR_here3plus.param
Broken link
CAN Parameters 2
Name
Original
Modified
Notes
CAN_P1_DRIVER
0
1
Open
CAN_P1_BITRATE
1,000,000
1000000
Open
CAN_D1_PROTOCOL
1
DRONECAN
Open
CAN_D2_PROTOCOL
1
DRONECAN
Open
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GPSX Parameters 2
Name
Original
Modified
Notes
GPS1_TYPE
Auto
UAVCAN
Open
GPS1_ADDR
0
20
Open
GPS1_DELAY
150
100
Open
GPS1_POS_X
0
0
Open
GPS1_POS_Y
0
0
Open
GPS1_POS_Z
0
0
Open
GPS1_USE
UseForNavigation
UseForNavigation
Open
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Parameters Check
Now that you have modified the parameters, it’s helpful to compare your parameters with a known good parameter set.
Setup
Parameters.json
Questions
Airspeed, Gyro, GPS
Reflection
For this lab, our group was working with AIDA-certified computers to access the GCS. This is building off of our cube and RFD lab. It included configuring parameters, integrating telemetry, airspeed, and GPS sensors. We downloaded, modified, and compared parameters, ensuring proper communication through USB, RFD900 telemetry, and the Here 3 GPS. Overall, the lab reinforced avionics setup, sensor validation, and GCS operation.
For our first task, we connected the Cube to the GCS, went to the mission planner, and confirmed that we had a heartbeat on the ribbon. There are two different flight modes for the GCS: stabilized and manual flight. For the most part, we will be flying in stabilized mode to get used to the believer controls. Once we get more comfortable, or in case of an in-flight emergency, manual mode will be toggled.
Once heartbeat was confirmed, we moved on to flashing our parameters onto the CubePilot. This took a couple of minutes, and once finished, we had to ensure the parameters were installed correctly. Parameters were confirmed, and we moved on to connecting both of our RFD modules to the GCS and also to my computer to confirm they were sending data wirelessly.
We then moved on to making sure that the COM ports worked and that the BAUD rates matched up. We then had to get out the pitot tube and connect it to our CubePilot board to ensure that it was reading data correctly. A pitot tube isn’t required, but it is highly recommended to allow the autopilot to get more accurate data in flight. The pitot tube was connected and confirmed that it was working, but we had to change some parameters in the GCS before it could be considered complete. This took us a couple of minutes as well.
The last component of this lab was adding the GPS sensor. The Here 3 GPS will allow us to know where the UA is at and allow for autonomous flight and safe RTH operations. We had to connect it to our CubePilot board and make sure all parameters were correct for proper Windracers operations. Everything worked smoothly, and we had to go outside to check for GNSS communication. Once confirmed, we headed inside for our final task of finding which parameters were changed. Our group determined through Diffchecker that the parameters changed were airspeed, gyro, and GPS.
Overall, this lab was filled with lots of parameter checking and learning about lots of telemetry options. Connecting these to the board, ensuring parameters were correct, and then testing them showed me how much work goes into making an autonomous aircraft... and this is only the trainer, I can’t imagine how much more goes into the actual Believer itself.
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